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[fix] fix actuator control with actuator-joint mapping #602

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[fix] fix actuator control with actuator-joint mapping #602

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@Dingry Dingry commented Dec 30, 2024 •
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What this does

The exisiting joint controllers (JointPositionController, JointVelocityController, and JointTorqueController) would break under two conditions:

  • When the sequence of actuators didn't match the sequence of joints
  • When the number of joints didn't equal the number of actuators, which can occur due to joint constraints (like equality constraints or tendon mechanisms)

The PR fixes this with actuator-joint indexing and mapping in the control function.

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